自适应动态面控制理论与应用研究

项目名称： 自适应动态面控制理论与应用研究

项目编号： No.61203069

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 赵起超

作者单位： 北京石油化工学院

项目金额： 25万元

中文摘要： 拟就当前自适应动态面控制理论中的几个关键问题进行研究，如具有代表性的严格反馈系统和纯反馈系统的输出反馈自适应动态面控制设计问题、全局稳定性的自适应动态面控制方案设计问题、对带有未知死区、摩擦、继电特性等非线性环节的系统进行低保守性自适应动态面控制方案设计问题、系统控制方向完全未知时的自适应动态面控制方案设计问题、如何确定系统设计参数大小的问题、完全非仿射纯反馈系统的自适应动态面控制方案设计问题等。同时对动态面控制方法进行实际工程应用方面的探讨与研究。

中文关键词： 自适应动态面控制；输出反馈控制；机器人控制；人工智能控制；工程应用探讨

英文摘要： This research aims to explore some schemes to deal with the problems existing in adaptive dynamic surface control (DSC). That is, 1) fuzzy logic system (FLS)or neural network (NN) based output-feedback dynamic surface control is proposed for strict-feedback or pure-feedback systems when only output signal is available for measurement; 2) by constructing a novel Lyapunov function and designing virtual control signals and final control law in design procedure,global stability of the closed-loop system is achieved; 3)by establishing a novel FLS or NN based approximation theorem, which is used to deal with piecewise continuous functions such as unknown dead zone, friction and relay characteristic and so on,the proposed DSC scheme can work without extra assumptions on these piecewise continuous functions; 4) by seperating the first virtual control signal from the high frequency gain (HFG), it enables us to estimate the HFG directly. As a result, the traditional Nussbaum function approach is abandoned; 5) by properly choosing the initial value of Lyapunov function, the values of design parameters in DSC design procedure can be determined; 6) instead of using the mean value theorem, a novel DSC scheme is proposed for completely non-affine pure-feedback systems. Owing to the abandont of the mean value theorem, the unkno

英文关键词： adaptive dynamic surface control；output feedback control；robot control；artificial intelligence control；practical engineering